Storing video images on disk using video time base and retrieving the images using disk time base

ABSTRACT

A multiple channel parallel transfer digital disk recorder is used to record digitized circular video images at the video frame rate. The digital pixel values for each image frame are written onto successive pages of a disk buffer memory (DBM) under video frame timing and are read from memory and written on disk under disk timing. When the last page image of the DBM is reached readout is switched back to the first page which is now filled with a frame of image data. Reading image data from disk and writing into successive pages of the DBM is done similarly. Only DBM locations containing pixels representative of actual image data within the circular boundaries of the image are addressed when reading from DBM and writing on disk and when reading from disk and writing onto DBM. Adjacent pixels in the image having predetermined bit lengths are written on disk with their bits in series. A group of adjacent pixels are written simultaneously and in coincident locations on the several disks under clocks that are derived from disk. A circuit is provided for correcting for the skew that can exist as a result of asynchronism between the timing of the disk. A programmable serial-to-parallel converter is provided for converting the serially recorded pixel of any bit length back to parallel bits of the same number as before they were serialized. The commands for the disk drive such as read, write, step and select cylinder are put in registers in response to occurrence of a disk index pulse for one multiple disk rotation and they are shifted to corresponding registers and are ready for execution when the next index pulse occurs so what is to be done by the disk drive during the next disk rotation is anticipated.

BACKGROUND OF THE INVENTION

This specification is common to related copending applications havingSer. Nos. 637,841; 637,873 and 638,286, now U.S. Pat. No. 4,616,314 allof which were filed Aug. 6, 1984.

All of the cited applications are assigned to have the same assignee asthis application.

The inventions disclosed herein pertain to a method and apparatus forstoring digitized images on magnetic disk in real-time, with no delaybetween images in excess of the vertical blanking time.

The inventions will be illustrated herein in a system for recording anddisplaying a continuous stream of digitized x-ray images, but thoseskilled in the art will appreciate that the inventions are applicable tovarious systems for recording on a magnetic medium, such as a magneticdisk, digitized images that are generated in rapid order and images thatare generated with a substantial time interval between them as well.

In digital fluorography, x-ray images emerging from the body arereceived by an image intensifier which converts them to optical images.The optical images are viewed by a video camera which converts them toanalog video signals. The analog video signals for each horizontal scanline composing an image frame are digitized and the resulting digitaldata are usually stored, at least temporarily in a frame memory.Typically, images are processed in a digital video processor containingmore than one full frame digital memory and an arithmetic logic unit sothat one or more images in a sequence could be weighted and subtractedfrom another, for example, and the resulting image data stored. Beforethe inventions described herein were made, it had been necessary toreconvert the digital image data back to analog video signals forstorage on analog magnetic disk. Analog video signal recorders had to beused because available digital disk recorders were not fast enough torecord x-ray images produced at rates of thirty frames per second. Onedisadvantage of being constrained to use an analog video disk recorderis that it is necessary to reconvert the images back to digitized formatbefore the images can be processed or treated again in the digital videoprocessor circuitry. Re-digitization of the analog video signalsintroduced errors such as quantitization errors, noise errors and timebase errors. The latter errors are a consequence of the images beingproduced and reproduced for display where the vertical sync rate of thevideo system is the time base while the images are stored on analog diskand retrieved from disk in reference to the time base of the disk drive.The errors mentioned, among other things, reduced the accuracy ofregistration between corresponding picture elements (pixels) in asequence of images so, for example, sharpness of any subtracted imagesor otherwise reprocessed images was not optimal. Another disadvantage ofthe state of the art analog disk recorders is that they have limitedstorage capacity at tolerable signal-to-noise ratios and bandwidths.Still another disadvantage is that they allow a maximum pixel intensityrange equivalent to about eight digital bits, that is, to about 256intensity gradations, whereas certain processing techniques may generatedata equivalent to up to twelve significant bits per pixel and someimage acquisition modes generate 10-bit data per pixel. For analogstorage of any of these images the data had to be compressed to eightbits.

Prior digital x-ray image processing systems using analog image storagetechniques are described in U.S. Pat. No. 4,393,402 issued to Keyes, etal. and U.S. Pat. No. 4,449,195 issued to Andrews, et al. These patentsare owned by the assignee of this application and their entiredisclosures are incorporated herein by reference.

Digital disk recorders using Winchester drives have been available butwere not fast enough for real-time recording of digitized images. Therecording and retrieval rates of prior disk recorders have been limitedby the fact that the pixel data had to be input to the write head inserial form so it could be written on one disk track after another onthe same disk. Pixel data comes in too fast for being written withoutoverlap.

A parallel input Winchester disk drive has recently been developed. Itemploys one drive and several disks on which parallel input data can bewritten simultaneously and read out simultaneously. The new drive isreadily adaptable for increasing data storage rates in computer systemswhere data is generated and latched in storage until the disks are ableto receive the data. However, in digital fluorographic applications, forexample, a long sequence of image frames are frequently generated at therate of thirty frames per second continuously with only a video blankinginterval between them. When image data is being generated the disk drivemust be available for recording on a continuous basis or parts of thedata will be lost forever. The problems resulting from the time base ofthe video image acquisition system differing from the time base of thedigital disk drive in the prior serial data input disk drive are stillencountered in the recently available parallel data input disk drive.

SUMMARY OF THE INVENTION

In accordance with the invention, a new method and system has beendeveloped to accomplish real-time recording of continuously producedvideo images with a multiple channel or parallel input digital diskdrive. A known type of digital video image processor (DVP), such as theone shown in the previously cited U.S. Pat. No. 4,449,195, operates onthe video image frame data at rates that are synchronous with the videovertical blanking intervals. A video processor controller (VPC) governedby a host computer or central processing unit (CPU), configures orswitches or sets up the circuits in the DVP in its next operating modeduring every video vertical blanking interval. For the VPC to controlthe disk drive in a manner that synchronizes the streaming data transferto and from the disk drive with vertical blanking, an interfaceincluding a multiple page buffer memory is provided. Each page can holdthe data for a complete image frame that is to be written on disk orread from disk. A disk data processor (DDP) receives and transmits theimage pixel data to and from the disk drive. The several magnetic disksare driven together at fixed rotational speed and transmit an indexpulse once per revolution as in conventional Winchester drives. The DDPand the digital disk controller (DDC) employ a double buffering schemewherein commands from the VPC are loaded to the DDP and DDC and arequeued until the next index pulse arrives. Then the queued commands areexecuted and the VPC loads another set of commands.

To accomplish real-time video rate image storage and retrieval, the VPCcombines data transfer commands, such as read or write and disk headactuator positioning commands into multi-task fast commands such as readand step heads or write and step cylinders and heads. Thus, the diskdrive can be conditioned for the next frame of image data withoutwasting one revolution. The DDC and DDP have double buffered statusregisters that are latched on the leading edge of each index pulse suchthat the VPC has until the next index pulse to read the commands back.

To compensate for asynchrony between the video data transfer at avertical blank time base and the disk drive timing, multiple page diskbuffer memories (DBM) are used, for example, as a four frame first-infirst-out (FIFO) memory to permit image data to be transferred to orfrom any one frame memory or page at video rates while another page isbeing filled or read out at disk timing rates.

The disk drive is optimized for image storage by dividing eachrevolution into sectors. Recording medium defects are mapped out sothere is no recording in a defective sector. A defective or bad sectormap is included in the command packet loaded by the VPC each revolution.Each bit of this map corresponds to a sector and the read or writeoperations are performed only if the bit related to the sector is set.In contrast to prior art disk recording practice where defective sectoridentification was stored in the CPU memories, in the present inventionthe bad sector map is stored in the video processor-controller or VPC soit can be directly transmitted with other commands. Thus, no time islost by reading from or writing into a track within a bad sector.

In addition to the novel overall system arrangement just outlined,several additional inventions which make real-time video rate imagerecording on disk possible within the recording speed limits of thedisk, are described herein. One of the inventions constitutes a methodand circuitry for limiting data transfer to the disk drive to only theuseful diagnostic image data. By way of example, the input and outputphosphors of the x-ray image intensifier are circular so a circularimage charge pattern is developed on the target of the video camera. Thetarget is read out in a raster scan format and the resulting digitizeddata for an x-ray exposure is addressed to and stored in rectangularcoordinate format in one of the disk buffer memory pages. Thus, thereare a lot of digital pixel storage locations surrounding the circularimage in the buffer memory page which contains no useful diagnosticinformation. In accordance with one new feature during transfer of imagedata from a full frame buffer memory page, only the useful pixel datawithin the circular area is addressed for transfer to disk so that notime is consumed by reading out buffer memory locations containing noimage data. This prevents exceeding the writing rate of the parallelinput disk drive. Likewise, when an image is retrieved from disk fortransfer to a buffer memory page for ultimate display on the videomonitor, it is only locations in the memory that define the circularimage that are filled with pixel data.

In accordance with the invention, groups of consecutive pixels, that is,a number of pixels corresponding with the number of platters or disks,are fed to the write heads of the disk drive for simultaneous recordingon the respective disks. The pixels are supplied in parallel to thewrite heads but their bits are laid down in serial order on acorresponding track within a corresponding sector on each disk. Duringwriting to the disk drive, all parallel data is clocked with the sameclock. The write clock originates from the servo track of the diskdrive. During reading from the disk drive, a clock is transmitted withthe data from each parallel channel. These individual read clocks can beout of synchronism with each other so that each read clock can be usedonly for its specific channel. The lack of synchronism between parallelchannels would result in the pixel data being skewed out of its properplace after readback from the disk drive. One new feature disclosedherein is a circuit for deskewing the data so that when pixel data isread out from disk or being transferred to the disk buffer memory, DBM,it can be addressed to the proper locations in the DBM forreconstituting the circular image with all pixels in proper spatialrelationship to each other.

In an imaging system of the character described herein, particularly inx-ray imaging, there are times when it is necessary or desirable todefine pixel intensities with digital words of different bit lengths.For instance, when video images are being recorded at video frame ratesin real-time the recording rate limitations even of the new paralleltransfer disk drive, may permit transfer of only 8-bit length pixels. Insome fluorographic procedures, on the other hand, images are acquired atsubstantially spaced apart intervals so that there will be time forrecording pixels having 12-bit lengths.

Another distinct invention disclosed herein for use in the multiplechannel disk drive system is a serial-to-parallel converter that isprogrammable to convert serial pixel data into words or pixel values ofselected bit length such as any one of 8 to 12-bit lengths.

The manner in which the foregoing inventions are implemented will now bedescribed in greater detail in reference to the drawings.

DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram of a system comprised of three major sections,one for producing video signal representations of images, another foracquiring and processing image data and another for recording images onmagnetic disk, for retrieving images from disk and for displaying imagesas they are produced or when they are retrieved from disk;

FIG. 2 is a diagram of a parallel data input disk writing and readinghead arrangement;

FIG. 3 is a diagram of the principal components of a disk controllerused in the recording system;

FIG. 4 is a diagram of circuit components involved in conditioning imagedata for writing on the recording disks or platters;

FIG. 5 is a diagram of circuit components involved in reading data fromdisk and writing it into the disk buffer memory;

FIG. 6 is a diagram of the components of a memory controller. Includedin this figure are those components involved in restricting datatransfer to and from disk to that data which comprises a useful circularimage area;

FIG. 7 is a circuit for deskewing pixel data that is being read out fromthe parallel transfer disk drive;

FIG. 8 is a diagram of a variable bit length serial-to-parallelconverter;

FIG. 9 is a diagram for explaining timing involved in recording onparallel transfer disk in accordance with the invention; and

FIG. 10 is an additional timing diagram pertaining to operation of thedisk drive.

DESCRIPTION OF A PREFERRED EMBODIMENT

FIG. 1 provides one example of where images are acquired and must berecorded at video frame rates. Referring to the leftmost region of FIG.1, the image acquisition system comprises an x-ray source 20 forprojecting a continuous or pulsed x-ray beam through a body 21 such thatthe image emergent from the body is received by an image intensifier 22.The intensifier converts the x-ray image to a corresponding opticalimage which appears in bright and minified form on the circular outputphosphor which is indicated by the dashed line marked 23. The x-raysource 20 is energized with a power supply 24 that is conventional andneed not be described. The timing of the x-ray exposure intervals iscontrolled by a controller 25 which, in turn, is timed by signals from avideo processor controller (VPC) represented by the block marked 26. Thehost central processor unit (CPU), represented by the block marked 27acts as an overall system controller. Its buses are designatedcollectively by the line marked 28. The programs stored by CPU 27 arecalled up by the operator's use of a cathode ray terminal 29. Thefunctions of the VPC will be discussed at various times later since itis involved in bringing about arbitration of the image acquisitiontiming and the different disk writing and reading timing.

Still referring to FIG. 1, the optical images appearing on outputphosphor 23 of image intensifier 22 are received in a TV or video camera30. As a result of scanning the target of camera 30, the circularoptical image appearing on phosphor 23 is converted to analog videosignals on a horizontal line by horizontal line basis. The analog videosignals produced by camera 30 are input, by way of line 31 to ananalog-to-digital converter 33 and then to a digital video processor(DVP) 32 which is demarked by a dashed line irregular rectangle. The DVP32 is generally similar to the processor described in previously citedAndrews, et al. U.S. Pat. No. 4,449,195. The analog video signal mustfirst be converted to digital pixel values by the analog-to-digitalconverter 33. The first stage of DVP 32 is an input processor 44 whichcontains lookup tables, not shown, for converting the pixel values tocorresponding logarithmic values although this conversion may be done atany time before or after the images are recorded on magnetic disk. Theanalog video signals for each horizontal line are converted, by way ofexample and not limitation, to pixel values up to 12-bits in length at apixel clocking rate of about 12.096 MHz. The pixel clock and the timingsignals for establishing the horizontal and vertical blanking and othercamera signals are derived from a line-locked oscillator clockillustrated by the block marked 34. It is shown in a symbolic way thathorizontal blanking pulses H and vertical blanking pulses, V, areobtained from DVP clock by way of lines 35 and 36 for use in the diskrecording process as will be discussed later. For real-time storage ofcontinuous imaging frames on disk, the digitized pixels may betransmitted by way of an output bus 37 from input processor 44 directlyinto the image recording and display system which is demarked by adashed line rectangle that is so labeled and marked 45. Two full framememories labeled FM-1 and FM-2 are provided. They can receive digitalpixel data directly from the output of input processor 44 or data thatis to undergo reprocessing as will be explained. A digital videomultiplexer (MUX) 46 provides the interface between the DVP 32 and theimage recording system 45. It provides two data buses 56 and 57. Bus 56is display data, selectable between bus 39, which is the contents offrame memory FM-1 and bus 40 which is the output of a math processor 38,or bus 37 which is the incoming digitized pixel bus. The other data bus57 provided by MUX 46 is the disk data bus which supports bidirectionaldata flow on a frame-by-frame basis between DVP 32 and the imagerecording and display system 45. It is normally used as an extension ofbus 47 to accept input processor data during image acquisition or toprovide data to the input processor 44 during image data reprocessingwithin the DVP 32. While the most evident path of data flow to the diskis from bus 47 within DVP 32, MUX 46 also allows transfer of buses 39,40 and 41 to the image recording subsystem over bus 57.

Although achievement of storing of images at video frame rates onmagnetic disk is the objective of the invention described herein, it maybe noted that the DVP 32 is operative to process image data in variousways. For instance, in some fluorographic procedures various images areweighted and subtracted from each other or images may be integrated, forexample. In one case, instead of the pixel data for frame-after-framegoing directly to MUX 46 for real-time recording, the data forconsecutive frames may be sent to full frame memories FM-1 and FM-2,respectively, so that the image data may be fed by way of buses 39 and40 to math processor for weighting and, for example, subtraction. It isalso possible with DVP 32 to retrieve image data that has been recordedby way of bus 47 and input that data to one or the other of the memoriesFM-1 or FM-2 or both by way of wraparound bus 42. Raw video data canalso be sent directly to digital video MUX 46 by way of a bus 43 whichbranches off of bus 37. In any event, the acquisition of x-ray images indigitized video signal form is referenced to the video vertical blankingsignal time base. As explained in U.S. Pat. No. 4,449,195, the host CPU27 sends a complete recipe for a procedure to the memory of the videoprocess controller 26 that controls DVP 32. The latter interpretsinstructions and effects configurations and reconfigurations of the datapaths of the DVP during television vertical blanking intervals. Thus,after each video image is read out from the camera 30, the DVP 32 isconditioned or configured by signals from VPC 26 to do any necessaryprocessing of the image data or simply let it go directly through to theimage recording and display system 45 if real-time recording on disk isdesired.

The parallel transfer digital disk recorder is designated generally bythe reference numeral 50 in FIG. 1. The arrangement of the multipledisks and the recording heads can be seen in greater detail in FIG. 2.Six magnetic disks, 0 to 5, are shown in FIG. 2 mounted for simultaneousrotation on spindle 51. Although the disk drive is not shown in thisfigure, it is basically the well known Winchester type. The diskrecorder differs from conventional recorders in that the data is writtenon disk and read from disk through five parallel channels, CH.0 to CH.4.The uppermost disk 5 has the timing pulse train recorded on one of itschannels and a magnetic read head 52 derives high frequency timingpulses for regulating disk rotational speed and other purposes. Asindicated, the timing data recorded on the upper surface of disk 5 isprovided to the disk servo system and other destinations. Each channelline leads to a tree of four read-write heads, 0 to 3. In the systemunder discussion, a corresponding group of write heads such as thosemarked 0 would be active in each channel at any given time. In thepresent invention, before pixels are transmitted to the disk heads forwriting on disk, they are converted to serial bit streams. The bitstreams comprising a sequence of adjacent pixels in the image aresupplied in parallelism over the five channels simultaneously so thatthe first pixel in the sequence would be recorded as a series of bits onthe lowermost disk 0 through write head 0. The next adjacent pixel wouldbe recorded simultaneously on the top of disk 1 through the write head 0associated with channel 1 and so on through channel 4. The next fiveconsecutive pixels with their bits in series in a horizontal scan lineof video image would similarly be directed down the five channels to bewritten by way of write head 0 while the heads are on a given cylinder.Thus, if data were being read from a frame memory having x,ycoordinates, consecutive pixels would be at identical locations alongthe recording tracks of the disk but would be on different disks.

By way of example and not limitation, each disk in an actual embodimentof the invention is divided into thirteen sectors. In this particularcase, in view of the permitted bit packing density, if the tracks in allsectors are without defect, it takes twenty-one sectors to record animage that is comprised of 512×512 pixels of 8-bit length. In thisparticular example, there would be about 262 kilobytes per image. Atthirty images or video frames per second, about 7.86 megabytes persecond would have to be recorded. The disk in the chosen disk driverotate at 3,961 rpm with a slight variation. Each disk, for example, iscapable of receiving 1.859 megabytes per second. Using five disks, thetotal permissible rate to the disks would be about 9.3 megabytes persecond which is greater than the image data input rate but, this surpluscapacity or recording rate is used for recording identificationinformation which is typically required with Winchester drives such asthe physical record length, the record number, the head number, thecylinder number, synchronizing information and address marks which arenecessary to establish where the information is recorded and from whereit can be retrieved. In prior art Winchester drives using a single diskand a single read-write head on each side of the disk, theidentification information is recorded on each sector of the disk but,in accordance with the invention, this information is recorded in onlyone of the sectors on any given track. As will be explained, means areprovided for determining when all of the thirteen sector tracks of thetwenty-one sectors required for recording an image are filled so as torequire, for example, a step from recording with heads 0 to recordingwith heads 1 and to step to a new cylinder when the tracks under all ofthe heads have completed recording an image or are filled.

Once every revolution of the disks, the disk drive issues an indexpulse. The drive is also adapted to issue a timing pulse indicative ofthe beginning of each sector. Data is written on each disk insynchronism with high frequency timing pulses or clock pulses thatoriginate from the servo head. As pointed out earlier, when the data areread out from the disks, each disk is clocked out with its ownindividual clock so that the pixel groups that are transferred out ofdisk in parallel may be skewed with respect to each other in time. Thenew deskewing circuit disclosed herein overcomes that problem. Furtherby way of an example using concrete numbers to facilitate understanding,in the actual embodiment mentioned earlier, each disk revolution takesfifteen milliseconds during which the tracks in thirteen sectors becomefilled whereas it takes thirty-three milliseconds to store an image so,as indicated above, a step from one track to another is always necessaryto record an image frame.

Referring again to the block diagram of the system depicted in FIG. 1,the digitized pixels comprising a video image are fed from the DVP 32 byway of a bus 57 to a disk data input-output interface 58 and to a diskbuffer memory 59 by way of a video input bus 60. The disk buffer memory(DBM) 59, as will be explained in greater detail later, is the elasticcomponent in the system for compensating the asynchrony between thevideo image acquisition and disk writing and reading. DBM 59 isorganized as a memory with four pages each of which can store a fullimage frame. The DBM operates as a circular memory. For instance, whenthe first video image data comes in it is addressed to one of the buffermemory pages and there is no transfer of image data to magnetic diskrecorder 50 until the complete image is written on the pages. Then, inresponse to appropriate signals from the video process controller (VPC)26, readout of the first memory plane onto the disk drive begins.Meanwhile the next memory plane or page is being filled with data fromthe next image. By the time the last of the four memory pages is readout, the first one which was previously emptied is being filled withfresh image data. In other words, the memory pages are read outcyclically to the disk recorder 50 so the disk recorder cannot fallbehind video image production.

DBM 59 in FIG. 1 is controlled by a memory controller which isrepresented by the block marked 61 which will be discussed in moredetail later. The memory controller has control, write address and readaddress buses 62, 63 and 64 coupling it to DBM 59. These buses providethe read and write addresses and necessary control and timing signals tothe disk buffer memory 59 for simultaneous video write and disk read orsimultaneous disk write and video read of the contents of the diskbuffer memory. During disk read operations bus 125, which is anextension of bus 65, contains disk rate data. During video readoperations bus 125 is not used but bus 65 contains video rate read data.Data can also be read out of DBM 59 and, by way of a bus 65, to the diskdata input-output (I/O) interface and from there by way of a bus 66 to adisplay controller memory 67. The display controller is conventional andits memory 67 can be refreshed at the incoming video image rate. Theoutput bus 68 from the display controller memory 67 is input to a videooutput circuit 69 wherein the digital pixel signals are converted toanalog video signals for display of the circular image 70 on the rasterscanned screen of a cathode ray tube display or television monitor 71.In an actual embodiment, the video output circuit has an input from asource, not shown, of digital graphic data which is converted to analogvideo signal form in the video output circuit and added to the videosignal so that the graphics data can be written on the display screen inthe spaces around the circular optical version of the x-ray image 70.

Other principal components of the image recording and display system inFIG. 1 are the disk data processor (DDP) 72, the digital disk controller(DDC) 73 and the disk drive 74. DDP 72 serves as the interface devicefor transferring data from DBM 59 to disk 50 and from disk 50 to DBM 59.As shown in FIG. 1, a control bus 75 leads from video processorcontroller (VPC) 26 to several components of the system. As statedearlier, the VPC must control the digital disk system in a manner thatsynchronizes the streaming data transfer to and from the disk drive withthe video vertical blank time. DDP 72 is coupled to disk drive 74 by thedata bus 77. The DDC 73 is coupled to the disk drive by the control bus76. DDC 73 and DDP 72 are also coupled by control and address buses 78and 79.

Now that the system has been outlined, reading and writing on disk willbe examined in greater detail.

Attention is invited to FIG. 9 which illustrates the image timingsequence. As shown in the top line of FIG. 9, an index pulse isgenerated by the disk once for every simultaneous revolution of thedisks. In this particular example, the disk has been divided intothirteen sectors and the disk produces a sector pulse indicative of thebeginning of each sector. In view of the writing density capability ofthe disk drive used in this example, calculation showed that twenty-onesectors would be required to write a 512×512 pixel, 8-bit per pixelimage. FIG. 9 demonstrates a number of characteristics of a disk drivecontrolled in accordance with the invention. Assume that an image isbeing read from disk buffer memory, DBM 59, and is being written ondisk. Image No. 3, which was stored on one page of DBM 59 was completelyread out during disk rotation 1 on cylinder 1 using head groups 2. ImageNo. 4 started where indicated. As shown, there was still four sectorsavailable on the track used for rotation 1 before rotation 2 started.Immediately preceding the start of rotation 2, it became necessary tostep to the next head group 3 indicated by the arrow labeled head step.During rotation 2, the pixel data is written by cylinder 1, head group 3onto the disk drive. During rotation 3, the pixel data must be writtenby cylinder 2, head group 0, therefore a cylinder step and a headselection change must take place at the end of rotation 2. This cylinderstep and head selection change will take place during the last fivemilliseconds of rotation 2. In this particular disk drive, it takesabout five milliseconds or the time of five sectors to step to anothercylinder and such stepping was anticipated by the VPC 26 to benecessary. Hence, as illustrated in the lowermost waveform in FIG. 9,VPC 26 caused the write signal to go low during this time so readout ofthe page and disk buffer memory containing image 4 stopped for fivesectors. The five sector times were used to move or step to cylinder 2and head group 0. Readout of the page in DBM 59 that contained image 4resumed after the transfer to cylinder 2 was made during the secondrevolution. Readout continued through rotation 3 and, as indicated, inthis particular disk a defective or bad sector existed. The VPC 26stores in its register the identity of the bad sectors and, as can beseen in the lowermost waveform in FIG. 9, the VPC interrupted writing onthe disk for the one bad sector and, of course, readout of the pagecontaining image 4 was also interrupted so that no image data was lost.Image No. 5, on another page in DBM 59, began to be written on diskcoincidentally with the end of the last sector required for image 3.While image 5 was being written during rotation 4 a switch to head group1 was accomplished but there was no need to interrupt writing becausesuch switch can be made during the time between sector pulses. Image 5represents the ideal case where there are no bad sectors and it isrecorded in twenty-one sectors, some of which are on a different trackas indicated by the head group switches from 0 to 1 to 2. Reading fromdisk to DBM 59 is governed in the same way as writing on disk.

As demonstrated in the foregoing discussion, in accordance with theinvention, the only time readout of a page in DBM 59 is interrupted forabout five milliseconds, or five sectors in this example, is when it isnecessary for the disk drive actuator to physically shift all of theread-write heads from one cylinder to another. How loss of reading andwriting time from and to disk is minimized in accordance with one of theinventions will now be discussed in reference to FIGS. 3 and 10.

FIG. 3 suggests that VPC 26 has the data indicative of the bad sectors,for example, in the several disks 0-4 on which image data is to berecorded. Every time an index signal occurs, VPC 26 sends out thecommand data for the disk drive to a group of next command registers aslabeled in FIG. 3. One register 91, marked command, receives codedinformation that is typically required for controlling a disk drive.Another register 92, labeled cylinder, receives data from VPC 26 thatgoverns cylinder selection. Another register 93, labeled head, has thecoded information for determining which read-write heads, 0-4, will beactivated and when they will be activated or switched. Register 94,labeled bad sector, stores a digital word wherein 0's might indicate thebad sectors related to the particular cylinder and head positions thatare in effect. Another register 95 labeled image start, has theinformation indicative of when image data from a page should start to bewritten in relation to the data pertaining to the cylinder, head and badsector conditions. Next command registers 91-95 are loaded withinformation after the occurrence of each index pulse, that is, theseregisters are loaded once before every disk revolution. However, thecommands that are loaded are not those which apply to the currentrotation of the disk but, instead, apply to the next revolution insequence. In other words, the commands in registers 91 and 95 at anytime will be executed upon occurrence of the next index pulse.

As shown in FIG. 10, when the first index pulse occurs, VPC 26 loads thenext command register information into DDC 73 and DDP 72. As shown inthe lowermost line of FIG. 10, the data for configuration A of the diskin the next command registers stays there until index pulse 2 occursand, as indicated in the lowermost line in FIG. 10, when index pulse 2occurs the commands are executed by DDC 73 and DDP 72.

As shown in FIG. 3, the commands stored in command registers 91-95during a preceding disk rotation are executed during the next rotationby virtue of the fact that the commands are presently in executionregisters 101-105. The command, decode and timing register 106 does thedecoding in a conventional manner. A buffer memory 107 is provided andit receives signals by way of multiple lines 108 which indicate when anew cylinder should be selected. Execution register 102 provides thedata to buffer 107 indicative of the cylinder that should be selected.This information is output on multiple lines 109 to a conventionalstorage module display (SMD) interface, not shown, since it is astandard part of Winchester disk drives as is known by those skilled inthe art.

In FIG. 3, command, decode and timing register 106 provides signals byway of multiple lines 110 to a buffer 111 to control the time when newheads are to be selected and execution register 103 provides theidentification of the head. The head select lines 112 also are input tothe SMD interface.

In FIG. 3, a shift register 113 is provided and its data is shifted uponreceipt of sector pulses from disk by way of line 114. Data indicativeof the bad sectors in the particular cylinder and head positions isstored in execution bad sector register 104. As bad sectors come up, theoutput line 115 of shift register 113 changes state as do the outputs ofAND gates 117 and 118. When there is a state change on the output of ANDgate 117 and 118, writing to or reading from disk is interrupted for theduration of the bad sector.

In FIG. 3, execution register 105 has the data indicative of whenwriting an image on disk should start. A counter 119 counts the sectorpulses from disk so the sectors under the read-write heads at any giventime are always known. The states of the counter are output on multiplelines 120 to a FIFO (first-in first-out) input control which isindicated in FIG. 3 by the block marked 121 and has output lines 122which lead to the DBM controller which will be discussed shortlyhereinafter.

Before leaving FIG. 3, it should be noted that the host CPU 27 simplysends general commands to VPC 26 such as to request VPC 26 to effectuatewriting an image on disk. The VPC has the duty of maintaining the badsector map and to exercise such control as to prevent overlap ofcylinder boundaries and do single track seek steps. VPC 26 has memory inwhich all of the data pertaining to location of images on disk isstored. If, for example, host CPU 27 requests retrieval of the 200thimage on disk, the VPC 26 decodes this message and through the diskcontroller and synchronization system shown in FIG. 3 identifieseverything pertinent to location of the image for bringing abouttransfer of the image data from disk to a disk buffer memory 59 pagewhere the data comes under the control of the video circuit timingbefore it is converted to appropriate form for display on the videomonitor 71 in FIG. 1.

Now that some of the features of the digital disk controller have beendescribed in reference to FIG. 3 and now that the timing of datatransfer to and from disk has been examined, consideration can now begiven to the process of transferring video image data to the parallelinput disk drive. Attention is invited to FIG. 4. The video digitizedpixel data input bus is marked 60 in this figure as it is in FIG. 1. Thevideo pixel data for successive images is input to the respective pagesof DBM 59. For the sake of convenience, each page of DBM 59 can belooked upon as being an x,y array of memory locations each of whichcorresponds to a possible pixel location. Video data input to DBM 59uses the video system time base. In other words, every time a verticalblank pulse occurs, writing into a page of DBM 59 begins. Inone-thirtieth of a second frame time, when one page is filled, the nextvertical blanking pulse causes the frame data to be switched into thenext DBM page, etc. In this particular example, the DBM has four pagesand can hold up to that many images at one time. However, as one page isbeing read out of DBM 59 and written on disk, another page which hasbeen previously read out begins to fill with pixel data and readout justcontinues to recycle in this manner as long as digitized x-ray or videoimages continue to feed the DBM. FIG. 4 shows memory controller 61 inblock form but it will be described in more detail later. For presentpurposes it is sufficient to recognize that the memory controller sendsout read addresses of the DBM 59 by way of bus 62 if the DBM is beingread out for transfer of data to disk. Memory controller 61 also sendsout the addresses for writing the incoming video data into the pages ofDBM 59. The addresses for writing video pixel data into DBM 59 arecompatible with the vertical blank time base provided by the videosystem. The disk drive has its own time base which differs from that ofthe video system. Hence, the addresses for reading out of DBM to writeonto disk are supplied at a different rate than the addresses thatcontrol video data input to DBM 59. The output bus from DBM 59 is marked125 in FIG. 4 as it is in FIG. 1. In this particular example, bus 125has a capacity for transmitting pixels comprised of eight to twelvebits. For recording at video frame rates, 8-bit pixels are used. Bitsfor the pixels are parallel and are input cyclically to several FIFOs126-130. When readout of a DBM page starts the first five pixels woulddo the same so that pixels can be stacked up in the FIFOs to account forthe fact that pixels may be going out of DBM 59 faster than they can betransferred out of the FIFOs to the DBM. The pixel inputs to the FIFOsis timed or maintained in synchronism by the control signals deliveredover lines 131 from the FIFO input control 121 which was previouslymentioned in connection with FIG. 3. When the FIFO input control detectsthat the FIFOs are ready to receive data, the control issues a readrequest to the memory controller 61 by way of line 132 and when thememory controller is ready to transfer the data out of DBM 59 it issuesa read acknowledge signal by way of line 133 to the FIFO input controland the data is transferred. The parallel bit pixel data is output fromthe FIFOs under the control of gating signals over lines 134 that aresupplied from the FIFO output control 123. The outputs of the FIFOs arecoupled, by way of buses, such as the one marked 135, to the inputs of agroup of parallel-to-serial converters (p/s) 136-140 wherein each pixelis converted to a serial bit stream which is required for writing on theseveral disks 0-4 simultaneously as previously explained. In FIG. 3, theserial bits comprising each pixel are transmitted from the disk dataprocessor (DDP) 72 to the disk 50 by way of the channel lines that aremarked CH.0-4 as shown in FIG. 3. The channel lines CH.0 to CH.4 in FIG.4 are in the bus 77 leading to the disk 50 in FIG. 1. One of thecommands out of register 101 is FIG. 3 is to effectuate output of theserial bit streams by delivering appropriate timing signals by way oflines 141 to the p/s converters 136-140. In FIG. 4, the image start nextcommand register 95 and execution register 105 and counter 119 are alsothe same devices as appear in FIG. 3. These components will be discussedin greater detail later in reference to FIG. 6 where the constructionand function of the memory controller will be elaborated.

As is typical in single disk as well as multiple disk Winchester drives,data is written on disk in serial form in synchronism with the highspeed clock of the disk. The parallel transfer drive writes or readsmultiple channels of digital data simultaneously. All five channels ofdata are written onto the disk drive synchronously with a master writeclock. However, during readback the drive transmits to the DDP 72 thedata and a clock for each channel. Each channel's readback data issynchronous to its own clock only, therefore a timing skew between thedifferent channels can result. In accordance with one feature of theinvention, the data that is fed back to the system is deskewed with acircuit shown in FIG. 7. There are actually as many of these circuits asthere are read/write channels in the disk drive. FIG. 7 shows datachannel 0 as coming from disk drive. The first stage of the deskewingcircuit is a serial-to-parallel converter 155. The operation of readingdigital data into converter 155 and corresponding converters in otherchannels is initiated by master sequencer 160 issuing a read enablesignal to the converters by way of line 166. The serial data for eachchannel along with a bit read clock signal on line 156 is input toserial-to-parallel converter 155. The data input is a series of bitscomprising a pixel. The converter 155 forms a nibble composed of apredetermined number of bits such as 4 in this example, that is, itrepeatedly takes 4 successive bits of a pixel or other group of bitsthat may have been recorded and feeds the nibbles into a latch 157. Thenibble is also input to a sync detector 158. The data coming from thedisk is formatted into a specific form. A preamble of all zeros precedesany active data, followed by a known data pattern, namely the sync dataword recorded in a sector field preceding active image data as is theregular way of detecting the start of user's data in Winchester typedisk controllers. When the sync data is detected by detector 158 activedata is present and a read sequencer 165 can begin latching the nibblesout of the converter 155. For every 4 read pixel rate clocks, converter155 is controlled to latch in a new 4-bit nibble. The read sequencerprovides the latch input clock by way of line 167. Another clock by wayof line 167 shifts the nibbles into a first-in, first-out (FIFO) memory159. The FIFO memory is the elastic element between the multiplechannels and is used to accommodate the skew. The worst case skewbetween channels is a specified amount. Therefore, after the appropriatenumber of shifts into FIFO 159 in one channel it is guaranteed that allchannels will have data in their FIFOs. A master sequencer 160 using theindex and sector timing pulses as a time base sends out clocking signalsby way of line 162 at a fraction of bit rate frequency which isone-fourth of said frequency in this example, for effectuating transferof the 4-bit nibbles from FIFO 159 to parallel-to-serial converter 163.The master sequencer also sends out the same clocking signal to thesequencers and FIFOs in the other channels as indicated by the clocksignal lines 168. Four bits in parallel come out of FIFO 159 on therespective lines 162. This FIFO may have, for example, thirty-tworegister stages although fewer than that are ordinarily needed. In anyevent, the nibbles from corresponding FIFOs 159 in all channels areoutput at the identical time to a parallel-to-serial converter 163 dueto the common nibble rate clock provided by way of line 162. The 4-bitnibbles, now in synchronism with each other in all channels areconverted to a serial bit stream and are output from parallel-to-serialconverter on lines such as the one marked 164. The parallel-to-serialconverter is clocked at a bit rate frequency by clock lines 161 from themaster sequencer 160. This same clock line is routed to the otherparallel channels as indicated by lines 169.

It should be recognized that the deskewing circuit does not have to berestricted to forming 4-bit nibbles. A serial-to-parallel converter 155that arranges 8, 10 or 12 incoming serial bit groups in parallel percycle could be used. Latch 157, FIFO 159 and parallel-to-serialconverter 163 would, of course, have to be expanded correspondingly.However, the fewer the number of bits in a nibble the lower is theprobability that a bit will be dropped or missed. The deskewer can beused to deskew in other applications where serial bits forming bitgroups are obtained from possibly asynchronous sources. The bit groupsare not limited to pixels, they could be bytes or words of any bitlength. If there were 8-bits in a group, for example, the latch clockfrequency would be one-eighth of the bit rate frequency.

As indicated, for real-time recording of image frames on disk,mechanical time constraints of the disk may limit pixel length to8-bits. However, when there are some open frames between x-rayexposures, it is possible to generate and record pixels of greater bitlength such as up to 12-bits. Likewise, the recorded pixel data must bereformatted from serial form as they are recorded on disk to parallelform of proper bit length before they are sent from the deskewingcircuit of FIG. 7 back to disk buffer memory 59 from which they may betransferred out to effect display of an image using the video circuitblanking pulse rate as the time base.

FIG. 5 shows the circuitry interfacing the deskewing circuits of FIG. 7with the digital buffer memory DBM 59. In FIG. 5, the deskewing circuitsfor channels 0 to 4 are represented by blocks labeled deskew. Typicaloutput line 164 from the deskewing circuit conducts the pixel valueswith their bits arranged in serial form to the input of aserial-to-parallel (s/p) converter 165. The other channels have similarconverters 165-169 in them. Converters 165-169 convert the deskewed andsynchronized serial pixel data to parallel bits comprising a pixel. Thepixels in parallel bit form are output from the converters 165-169 toFIFOs 170-174. The pixels are output in sequence from FIFOs 170-174through a multiplexer (MUX) 175 from which they are addressed to thesame locations in DBM 59 as they had when they were fed into the DBMfrom the video circuitry before the pixel data was recorded on disk. InFIG. 5, memory controller 61 addresses the pixels to their properlocations. The write addresses for writing data from disk to DBM 59 areprovided over bus 63 from memory controller 61 to DBM 59. The writeaddresses are generated according to the time base of the disk. When theimage data is read out of DBM 59, the data is addressed by way of readaddress bus 64 at a rate based on vertical blank frequency. Thus, videodata goes out from buffer memory on bus 65 as shown in FIGS. 5 and 1.

The components in FIG. 5 for timing data transfers are comparable tothose used in FIG. 4. The pixel rate clock controls input of the data tothe deskew circuits by way of line 178. This clock is supplied to a datadeserializer control 179 which supplies the timing signals to the deskewcircuits by way of a bus 180 and to the s/p circuits by way of a bus181. Data transfers into and out of the FIFOs 170 are effected by FIFOinput control circuit 191 and FIFO output control circuit 192 which aresimply synchronizing or timing circuits. Again, when data is to betransferred out of the FIFOs 170-174 a write request signal is issued tothe memory controller and when it is ready to effectuate a transfer andaddressing of the pixels to the proper places in DBM, the controllerissues a write acknowledge signal and the data is transferred. In FIG.5, the next command register for image start information 105 and theexecution register 101 are repeated as is counter 119.

As indicated earlier, the disk recorder is limited in the amount of datait can record in any given time period so, in this example, it has beenindicated that to record video image frames continuously at thirtyframes per second a pixel length has to be limited to 8-bits. In somex-ray procedures, for example, a number of frame times may elapsebetween x-ray exposures in which case there is enough time to allow forrecording pixels with bit lengths of up to 12-bits. As a practicalmatter, bit lengths of eight, nine, ten, eleven or twelve may be used.When the pixels are read out of disk they come out on the respectivechannels in serial form and ultimately leave the deskewing circuits inserial form before they enter the serial-to-parallel converters 165-169as just described in reference to FIG. 5. Thus, the serial-to-parallelconverters 165-169 are a novel type that are programmable to convertserial bit streams into pixels having a preselected bit length. The newprogrammable variable length serial-to-parallel converter corresondingto any one of the converters 165-169 in the respective channels in FIG.5 is shown in FIG. 8. In FIG. 8 the serial data stream input on line 164is from the deskew circuit related to one of the five data channels. Theinput is to programmable array logic (PAL), a data routing circuit inrectangle marked 170. The serial pixel data is to be converted intopixels having a predetermined number of bits. Selection of the number ofbits is determined by data sent to a next command register 171 from VPC26. As previously described, when an index pulse is received from thedisk, a command that has been in a next command register is read intothe execution register 172 and held for at least one rotation of thedisk. In this particular example, conversion of the serial bit streamsto eight, nine, ten, eleven or twelve-bit deep pixels is contemplated.This amounts to five different bit lengths. A 4-bit word coming out ofexecution latch 172 on line 173 can specify any of 8 to 12-bits. The4-bit words on lines 173 are input to a four-line-to-one-of-sixteendecoder 174 in PAL 170. The PAL includes some AND gates 175-183 and ORgates 184-187. The serial data is fed to a corresponding input of eachof the AND gates by way of a common line 188. Assume, for example, thatthe command from latch 172 is decoded by decoder 174 such that the 8-bitoutput line goes to a high logic level. In other words, the serial datain is to be converted to a parallel bit pixel value of 8-bit depth, thatis, there will be eight significant bits and the four remaining bitswill, in this example, be all zeros. Assume now that a bit stream isbeing fed in by way of lines 164 from the deskew circuit. Assume thatthe first 8-bits are all logic ones. With the 8-bit select line 189 at ahigh logic level, the input to AND gate 182 to which it is connectedwill remain at a logic one level. Now the first logic one in the bitseries comes in by way of lines 164 and 188 and is supplied to commoninputs of AND gates 175-182. However, only AND gate 182 has been enabledby 8-bit line 189 going high. Thus, the output of AND gate 182 goes highand this signal is gated through OR gate 187 to data input D4 coincidentwith a bit rate clock pulse on line 191 which is supplied from a mastersequencer. When the next bit comes in on line 188, assuming now that itis a logic one, the output of enabled AND gate 182 goes high again andOR gate 187 propagates this logic one to data input D4. Meanwhile, uponoccurrence of the second clock pulse the preceding one level on D4 ofregisters 190 appears on Q4 and data input D5 of registers 190. When thenext bit and bit rate clock pulse occur, the first logic one is steppedto output Q5 on register 190. When output Q5 of register 190 is at logicone, this signal is transmitted by way of line 193 to data input D6 ofregisters 192. This stepping from stage to stage continues such that thesix output lines Q6 and Q11 on register 192 will all be at a high logiclevel and so will Q5 and Q4 outputs of registers 190. Examination of thecircuit will show that in the 8-bit conversion case, the four outputs Qφto Q3 of registers 190 were reset to zero initially remain at all zeros.Thus with Qφ and Q3 at logic zero level and Q4 to Q11 at logic one levelin this example, these signals are stored momentarily in latches 194 and195. Now there is a pixel rate clock signal supplied from the mastersequencer over line 196 in FIG. 3. This is the clock for causing thelatches to switch their signals to their six output lines 197 and 198with the least significant bit (LSB) appearing on the lowermost outputline of latch 195, all logic ones appearing on the six output lines 198and the lowermost two output of lines 197 from latch 194. The uppermostfour output lines 197 would all have zeros on them in this example.

Operation of the variable bit length serial/parallel converter in FIG. 8would be similar if, for example, the pixels' length selection registerwere given a command to convert the serial bit data into pixels having a12-bit length. In such case the 12-bit line out of decoder 174 would gohigh to enable AND gate 175 to act as the input gate to data input D0 ofregisters 190 and the bit values would be stepped through the registers190 and 192.

It should be understood that there is one serial/parallel converter ofthe type shown in FIG. 8 for each disk output channel. To summarize, theimage pixels stored on the digital disk drive are of varying bit length,from eight to twelve-bits in this example. The serial bit streams fromthe drive are converted into pixels of appropriate bit length by theprogrammable serial/parallel converter of FIG. 8. It sets all leadingbits to zero in pixels of length less than 12-bits. The serial data isinput to the PAL 170 and is output to the appropriate bit location of aconventional serial-to-parallel converter. The bit location where theinput bit will go depends on the four pixel length selection inputs inthis example. After the appropriate number of bit rate clocks to theconverter registers, latches are clocked to capture the pixel inparallel form. In this manner, the PAL 170 is placed in the feedbackpath of the first four bits of the converter and performs themultiplexing function on the input data as well as packing zeros intoall unused higher order bits. The converters of FIG. 8 are physicallylocated in the disk data processor 72. The converters were previouslymentioned in connection with describing reading from disk and writinginto digital buffer memory 59 in reference to FIG. 5. Referring again tothat Figure, it will be seen that the parallel pixels operated on by theconverter of FIG. 8 are conducted by way of multiplexer 175 in FIG. 5through a bus 200 to DBM 59. They are addressed to the proper locationsby memory controller 61 as shown in FIG. 5. As previously indicated, thepixels are written into DBM 59 in synchronism with disk timing signalsbut they must be read out for display from DBM 58 at rates using thevertical sync pulses of the video system as the time base. Theapplication of the converter to converting serial image pixel data toparallel data is illustrative, but, as those skilled in the art willrecognize the variable bit length converter can be used wheneverparallel data is transmitted as a serial bit stream that must bereorganized as parallel bit data again.

Another new feature of the system shown in FIG. 1 is the manner in whichthe time for transferring image data from the disk buffer memory 59 tothe disk recorder is minimized so as to not exceed the recording rate ofthe parallel transfer disk drive. As stated earlier, the x-ray imagefield is circular. Assume that the pages of the disk buffer memory are arectangular array of memory locations that can be identified by theirx,y coordinates. Thus, when the video pixel signals, that are outputfrom DVP 32 on bus 60 in FIG. 1, are being written into disk buffermemory 59 it is on a horizontal line by horizontal line basis. Thehorizontal line time is longer than 512 pixels and if there are morethan 512 horizontal lines in a raster the circular image will notoverlay the full widths of the horizontal lines nor will it overlay allof the horizontal lines in the vertical direction. Since the videosignals are clocked into the disk buffer memory array pixel after pixelthroughout all of the horizontal lines it does not make any differencethat nonexistent memory locations surrounding the circular image areaddressed. However, when a disk buffer page is being read out to allowwriting of the image data onto disk, transfer time of the data from theDBM 59 can be minimized if only pixels within the image circle thatcontain useful diagnostic information are addressed and transferred todisk. Likewise, if only the data representing the circular or usefulimage area is recorded on disk, time can be saved if it is read out ofdisk and written only into the DBM 59 locations that need to beaddressed in order to reform the image data in the memory in theoriginal circular pattern.

FIG. 6 shows the components of memory controller 61 which are involvedin only addressing or reading from the DBM 59 and writing on disk,pixels that are inside of the circular image boundary. When a videovertical blank pulse occurs to initiate an image frame, a counter beginsto count the horizontal raster lines from the top of the image down tothe point of tangency of a horizontal line with the top-most pixel inthe circular image which may be on the topmost horizontal line or lower.This is the first pixel or group of pixels that are addressed for beingaccessed from the DBM and written on disk. From that time on, horizontallines are counted downward and a new X-start address, corresponding towhere the first image pixel appears on a line is provided. As will beshown, in accordance with the invention, no X-stop address where imagepixels end on each horizontal line need be provided since ending readoutof any horizontal line is accomplished by taking advantage of the factthat the circular image is symmetrical. A detailed description of how acircular image is accessed from DBM 59 and written on disk will now beset forth in reference to FIG. 6 but it should be understood that imagesof other shapes could be written on disk in the same way as long as theyare symmetrical about a center line on the video monitor screen.

In the upper left of FIG. 6 there is a multiple line or bus coming fromthe video processor controller or VPC 26. VPC 26 provides a Y-read startaddress by way of this bus. The Y-direction is downward from horizontalline to horizontal line, the X-direction is along the row of pixelscomprising a horizontal scan line. The Y-read start address is insertedin a register that is so labeled and marked 210. There is a multiplexer211 shown to the left of the Y-read start address register. It has twoinputs marked T and D. T stands for television or video timing rate andD stands for disk timing rate. Disk timing is applicable to writing onand reading image pixel data from disk. The Y-read start address isinserted in register 210 by VPC 26 but nothing happens until animage-start signal is provided by DDP 72 over the line labeledimage-start and marked 212. The image-start signal is indicative of thetime when writing on disk is to start since it must occur when the diskwrite heads are on a sector on which no image data is written as yet. Itmay be noted that an output line 213 from the Y-read start registerprovides a signal derived from VPC 26 that selects the page in DBM 59from which the image is to be read. The image-start signal is coupledfrom the D input through multiplexer (MUX) 211 to a Y-read counterrepresented by the block marked 214. The Y-read counter counts down thehorizontal lines from the first line and when it gets down to the firsthorizontal line on which there is image data that might be called apoint of tangency with the circular image, the first Y-read address isdelivered through a MUX 215 and this address is transmitted by way ofY-address bus 216 to the address decoder, not shown, of the DBM 59. TheY-read counter 214 is incremented at the end of image data in everyhorizontal line by a read end-of-X signal. This read end-of-X signal isreceived over a line 217 and goes to the D input of a MUX 218 whoseoutput line leads to the Y-read counter 214 for incrementing thecounter. The end-of-X signal is provided so readout in the horizontaldirection will not extend beyond the image circle to the end of ahorizontal line being read out since there is no image informationbeyond the circle. Of course, an X-read address must also be provided tothe DBM 59 along with each Y-address. The count of the Y-read counter214 is fed by way of a bus 219 to an X-read start programmable read-onlymemory (PROM) 220 which could be a RAM if data for various image sizesor shapes is to be programmed. Memory 220 contains a lookup table andcould be a random access memory 220 in which approximate X-read startaddresses for the lines are stored. In any event, when the firsthorizontal line containing useful pixel data within the image circle isreached as a result of countdown by the Y-read counter, the count of thecounter constitutes an input address to the PROM 220 which address isthe number of the horizontal lines that have been counted and whoseoutput is the X-read start address for the particular horizontal linedown to which the count has been made by the Y-read counter 214. TheX-read start address for any horizontal line is coupled by way of a bus221 to an input of a MUX 222 which has two inputs one of which is shownconnected and identified by a small circle and another of which issimply grounded in this example and is identified by a rectangle. Theimplication here is that the disk buffer memory can also be read out inordinary rectangular coordinate form where all pixels are read outwhether they contain image information or not. In accordance with theinvention, however, the X-start addresses are transmitted through MUX222 and through the D input of a MUX 223. The addresses are furthertransmitted through an X-read counter 224 and another MUX 225 from whichthey are transmitted by way of an X-address bus 226 to an addressdecoder, not shown, which is part of a memory array as is well known.

Every time pixel data is transferred out of a selected DBM 59 page afterthe X-read start address is executed in a given horizontal line, theX-read or pixel counter 224 is incremented. The increment signal is fromthe FIFO input control 121 as described in connection with FIG. 4wherein the memory controller 61 receives a read request from the FIFOinput control and issues a read acknowledge signal on line 133. This issymbolized in FIG. 6 where the read request line 132 and the readacknowledge line 133 are shown. The increment signal is delivered to theX-read counter 224 by way of a line 227 which connects to the D input ofa MUX 228. The increment signal is finally output to the X-read counter224 by way of line 229. A branch bus 230 coupled to the output bus fromthe X-read counter has the current X-address for any given horizontalline on it. Bus 230 is coupled to input A of a digital comparator 231.The address when reading in the X-direction on any given horizontal linethat is output from the X-read start PROM 220 is coupled by way of a bus232 to a 2's complement device 233. The start address is 2'scomplemented in the traditional way by converting all 0's in the digitaladdress to 1's and all 1's to 0's and then adding a 1. As is known, thisyields what is essentially the negative of the original number which, inthis case, is the X-read start address for any horizontal line lyingwithin the image circle. Since the circle is symmetrical about avertical center line, the current X-read address to input A of thecomparator can be compared with the X-read start address as 2'scomplemented. It is like counting pixels from the X-start point on ahorizontal line to the center and then counting down by an equal amountto reach 0 as indicative of the end-of-X. The comparator 231 achievesthe same result. When a comparison is made the end-of-X is indicated andthere is an output signal which is transmitted to the Y-read counter 214by way of previously mentioned line 217. This increments the Y-readcounter 214 and provides a new address to the X-read start PROM 220 soit can generate the X-read start address for the next and ensuinghorizontal lines that begin and end in the image circle. The X-readcounter 224 is loaded with a start address by either an image-startsignal coming through line 212 at the start of a line with image data orby the read end-of-X signal on line 217 subsequently. Both signals aregated through an OR gate 234 and coupled through a MUX 235 to the X-readcounter 224. As mentioned in the earlier discussion of the overall readsystem in connection with FIG. 4, the pixels that are output from DBM 59on bus 125 are input to the respective FIFOs 126-130 after which thepixels are converted to serial data in converters 136-140, located inDDP 72, and then transmitted, respectively, as serial bits alongparallel channels 0 to 4 to the disk inputs for the consecute pixels tobe written on the respective disks simultaneously.

Reading image data from disk and writing onto a page of DBM 59 will nowbe described. As shown in FIGS. 1 and 6 image data is routed from DDP 72to DBM 59 by way of a bus 200. In FIG. 6, the bus in the upper leftregion from VPC 26 is used again to download the Y-write start addressinto a register 250. After the Y-write start address is loaded nothinghappens until an image-start signal is provided by DDP 72 on line 212.This assures that the disk read heads are on the sector from which animage data read is to start. The page in DBM 59 to which the image datais to be written is enabled by a signal over line 299. The image-startsignal is coupled from the D input of a MUX 298 to the Y-write addresscounter 300. The Y-write start address in register 250 is the address ofthe horizontal line on which image data to be written is present. Thisstart address is loaded in response to occurrence of the nextimage-start signal. The Y-write address counter 300 will then containthe address of the first horizontal line to be written. The Y-writeaddress is delivered by way of MUX 215 and Y-address bus 216 to theaddress decoder, not shown, for the DBM page.

The Y-write address counter 300 is incremented at the end of everyhorizontal line by a write end-Of-X signal on line 317 and goes throughMUX 318 to counter 300. The Y-address count is also sent by way of a bus302 to the X-write start memory, which may be a PROM or RAM, 301, todetermine the X-location of the first image pixel that is to be writtenon the horizontal line. Memory 301 constitutes a lookup table of X-writestart addresses for each horizontal line.

The X-write addresses are generated by the X-write counter 303. TheX-write start addresses are transmitted from X-write memory 301 througha bus 319, a MUX 304, the D input of a MUX 305 and from its output tothe X-write counter 303. The X-write addresses for the correspondingY-addresses are then input by way of X-address bus 226 to the addressdecoder of the DBM 59. The output of the X-write start memory 301 isalso transmitted by way of a bus 306 to a 2's complenting device 320.The 2's complement of the X-write start address for the currenthorizontal line is delivered from device 320 by way of a bus 321 toinput B of a comparator 307. The current X-write address in X-writecounter 303 is supplied by way of a bus 322 to input A of comparator307. Comparator 307 compares the current X-address and the 2'scomplement of the X-start address and when these values compare, theresulting end-of-X signal on line 317 is transmitted through MUX 318 toincrement Y-write counter 300 to the next downward horizontal lineaddress. The X-write counter 303 is loaded with a start address byeither an image-start signal coming through line 212 at the start of theline with image data or subsequently by the write end-of-X signal online 317. Both signals are gated through an OR gate 323 and coupledthrough a MUX 324 to the X-write counter.

The X-write counter 303 is incremented by the write acknowledge (WR ACK)signal on line 325 from the synchronization circuit 326 after pixel datahas been written. The WR ACK signal originates from receiving a write(WR) request from DDP 72 on line 327. These signal lines are also shownin FIG. 3.

Thus, as has been shown, the circuit of FIG. 6 permits reading out ofDBM 59 and writing onto disk and, conversely, reading out of disk andwriting into the DBM only the image data with the boundaries of asymmetrical image. The pixels surrounding the image, which would bebackground for the image essentially need not be addressed so the timefor transferring image data from disk to DBM and from DBM to disk isminimized. In summary, in both types of transfers, the X-start addressfor each horizontal line is loaded from the X-write (X-read) addresscounter depending on which horizontal line, identified by the Y-addressis being written (read). The X-write (X-read) address starts at thislocation counts through the next addresses being incremented by thewrite (read) acknowledge signals. A new start address is loaded into thecounter at the end of each horizontal line or the start of an image. Theend of the image data, that is, X-end is determined by comparing thecurrent X-address with the 2's complement of the X-start address whichis possible because the images are assumed to be symmetrical about avertical center line through the image which is coincident with animaginary vertical center line crossing the horizontal lines on thedisplay screen.

Although what are believed to be the best modes of implementing thevarious inventive concepts have been described in detail, suchdescription is intended to be illustrative rather than limiting, for theinventions may be variously embodied and are to be limited only byinterpretation of the claims which follow.

What is claimed is:
 1. In a system wherein video camera analog videooutput signals representing images generated in correspondence with therate of video frame timing signals are converted to digital datacorresponding to the intensities of the picture elements (pixels) thatcompose the image in a video frame,improved means for facilitatingwriting the digitized pixel data for consecutive video image frames ondigital disk as the data for an image are produced and for reading saiddata from disk after it has been recorded, comprising: magnetic diskrecorder means having a plurality of coaxial magnetic disks jointlyrotatable at constant speed, a plurality of read/write head trees, someheads in a tree arranged for magnetically coupling with the recordingtracks of one disk and others for coupling with corresponding tracks onan adjacent disk for parallel transfer of digital data into and out ofthe respective disks, a common radial position of all trees beingdefined as a cylinder, the disks being divided into sectors with arecorded signal for providing a sector pulse indicative of the beginningof each sector, means for providing an index pulse indicative of thebeginning of each rotation of the disks, one of said disk having timingpulses recorded thereon for yielding timing pulses at a rate governed bysaid rotational speed of the disks, said timing pulses beingasynchronous with said video frame timing signals, and actuator meansresponsing to command signals by positioning said trees and the headsthereof, disk buffer memory (DBM) means comprised of a plurality ofpages each of which has sufficient locations for storing the pixelscomposing one image and having data input and output means, disk dataprocessor (DDP) means including circuit means coupled to said read/writehead means, respectively, and coupled to said disk buffer memory means,said DDP means being coupled to said disk buffer memory means, said DDPmeans being controlled at said video frame timing pulse rates derivedfrom the disk and being operative when writing data from said DBM meansonto disk to convert parallel pixel data to serial bit data that istransmitted in parallelism to corresponding read/write heads in thetrees and operative when reading pixel data from the disk to convertserial pixel data from the respective read/write heads to parallel pixeldata for being transferred to the DBM means, memory controller means andbus means coupled to said DBM means for said controller means to providesimultaneous read and write pixel and buffer memory page addresses andcontrol signals to said DBM means, said memory controller providing readaddresses to one of said pages concurretly with providing writeaddresses to another of said pages, said memory controller beingoperative during image data transfer to write on disk to provide DBMmeans write addresses synchronous to video frame rate timing and toprovide buffer memory read addresses synchronous to DDP timing, andduring image data transfer reading from disk and writing into said DBMmeans to provide DBM reans write addresses synchronous to DDP timing,and to provide DBM read addresses synchronous to video frame timing, aplurality of register means for storing digital commands forrespectively establishing data paths, and containing data values, andstoring control information, video processor controller (VPC) meansoperative to load various ones of said registers with said commands withsuch loading of some commands in response to a said video framesynchronizing signal and concurrently loading others commands inresponse to a disk index synchronizing signal, and digital diskcontroller (DDC) means including some of said registers for receivingcommands for controlling the disk actuator and disk read-writeoperations on a disk rotation-by-rotation basis as well as controllingdata flow through said disk data processor, said DDC being operative toload registers, respectively, with commands upon occurrence of an indexpulse and to shift commands loaded after any one of said index pulses toa corresponding register for execution of the commands in response tothe next index pulse that occurs.
 2. The system according to claim 1including means for effecting reading from said DBM and writing on diskonly horizontal lines of pixels that are within the boundaries of theactual useful image stored in said DBM, comprising:register means intowhich a Y-read start address is inserted for designating the firsthorizontal line in said DBM containing valid pixels comprising saiduseful image, a Y-read counter for counting the horizontal lines fromthe first line and responsding to counting said first lines controlingpixels by applying said Y-read start address to said DBM, a memory forstoring the sequence of addresses (X-read start addresses) at whichreadout of the pixels in each horizontal line is to start, said memoryresponding to said Y-read counter counting to said first line containingvalid pixels by applying the first X-read start address to said DBM forsaid DBM to output the pixels in said line for being written on disk, anX-read counter counting pixels, said counter being increment every timepixel data is transferred out of said DBM after the X-read start addressis executed in a given horizontal line, a digital comparator having aninput for receiving the current X-address for any horizontal line, a 2'scomplementing device having an input for said X-read start address fromsaid memory and an output coupled to an input of said comparator, saidaddress corresponding to reading in the X-direction along any givenhorizontal line, said device producing the complement or negativeequivalent of said X-read start address, said comparator responding to acomparison being made between said current X-read address and the 2'scomplemented X-read start address by producing an end-of-X signal, andmeans for transmitting said end-of-X signal to said Y-read counter toincrement said Y-read counter and provide a new address to said X-readstart memory for said memroy to generate the X-read start address forthe next horizontal line.
 3. The system according to claim 2 includingmeans for reading image pixel data from disk and writing said data insaid DBM, including:a register that is loaded with a Y-write startaddress in contemplation of writing in said DBM, said Y-write startaddress being the address of the horizontal line on which data to bewritten is present, means for providing an image-start signalcorresponding to the read heads of said disk recorder being on thesector from which image data reading is to start, a Y-write addresscounter having input means for receiving said image-start signal and forreceiving the address of the first horizontal line to be written in saidDBM, said address counter being incremented at the end of everyhorizontal line by and end-of-X signal, an X-write start memorycontaining the X-write start addresses for each horizontal line, thecount from said Y-write address counter being input to said X-writestart nemory for determining the X-location of the first pixel that isto be written on the horizontal line, an X-write counter to be loadedinitially with a start address and then generating X-write startaddresses by counting pixels and incrementing every time pixel data istransferred to said DBM after the X-write start address is executed, a2's complementing device having an input for the X-write start addressof the current horizontal line and having an output, a comparator havingan output and inputs for the current X-address and for the 2'scomplement of said X-start address, said comparator responding tocomparison of the inputs occurring by producing on end-of-X signal thatis applied to increment said Y-write counter to produce the nextdownward horizontal line address.